AIK-FAT/TC_iTomcat-ES2-Detector-Tower-FAT
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schwarb
2025-05-15 15:24:08 +02:00
parent bc6acf1be5
commit 60ad70f818
3 changed files with 24 additions and 21 deletions
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1
solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
View File

@@ -31,6 +31,5 @@
<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030010"/>
<MappingInfo Identifier="{00000000-0040-0304-1000-040341000403}" Id="#x02030020"/>
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
<MappingInfo Identifier="{08502041-0030-0304-4020-500830000403}" Id="#x02030040" Watchdog="00000000000000000000000000000000"/>
</Mappings>
</TcSmProject>

35
solution/_Config/NC/Axes/Axis 2.xti
View File

@@ -1431,8 +1431,8 @@ External Setpoint Generation:
<Velo RefSearch="0.380666666666667" RefSync="0.380666666666667" SlowManual="1.90333333333333" FastManual="11.42" Fast="38.0666666666667" Maximum="38.0666666666667"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="19">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" Offset="418.1787" MaxCount="#xffffffff"/>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" Offset="418.1787" Inverse="true" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
@@ -1467,8 +1467,8 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="16">
<DrvPara MaxCount="#xffffffff">
<Analog VeloReferenz="41.8733333333333" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
<Analog VeloReferenz="41.8733333333333" VeloScale="32" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
@@ -1524,7 +1524,7 @@ External Setpoint Generation:
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PID PosKp="30"/>
<PID PosKp="50"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
@@ -1545,7 +1545,18 @@ External Setpoint Generation:
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (EL7211-9014)">
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 16 (EL5042)">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 22 (EL7211-9014)">
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
@@ -1554,18 +1565,6 @@ External Setpoint Generation:
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position" Size="32"/>
<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Pos value stored" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Pos value stored" Size="1" OffsA="1"/>
</OwnerB>
</OwnerA>
</Mappings>

9
solution/_Config/NC/Axes/Axis 3.xti
View File

@@ -1467,8 +1467,8 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="16">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
<Analog VeloReferenz="125.4" VeloScale="32" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<DrvPara MaxCount="#xffffffff">
<Analog VeloReferenz="125.4" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
@@ -1558,8 +1558,13 @@ External Setpoint Generation:
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (EL7211-9014)">
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
</OwnerB>
</OwnerA>
</Mappings>